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d447d795f4
* unittest - fix duplicate symbols in unittests Some symbols were declared again With clang -fcommon, this resulted in allocatin in common segment and prevented error. (tentative definitions in C standard). -fno-common (now default in clang https://reviews.llvm.org/D75056) causes compilation errors. Declarations are now marked extern. * unittest - fix scheduler array size for unittest Unittest needs extra space for canary * unittest - fix missing include (needed for clang-16) * unittest - remove unused varibles -Werror in clang 15+ * unittest - increase max supported version to clang-16 * unittest - conditionaly disable useless output in unittests * unittest - C++11 version of STATIC_ASSERT * unittest - fix initializers for g++ - Change order of initializers to match order in struct - make valueTable initializion consistent (necessary for C++) - adapt controlRateConfig * unittest - adapt scheduler_unitest for g++ scheduler_stubs.c is necessary to initialize task_attributes * unittest - fix ledstrip unittest only part of config was zeroed * unittest - fix g++ warnings - memcpy when length is known and \0 is not copied - isError is local stub, no extern - serialReadStub - don't memcpy into object, use initializer * cli - cleanup cliGetSettingIndex - compare only passed bytes (old version may read data after name) - input string is const * unittest - fix ld warning from PG sections move pg data sections after .rodata. Sections were marked as writable due to relocation (!?). That marked .text output section (containing .pg_data) as writable too and linker correctly complained that executable section is writable. * unittest - cleanup * unittest - adapt after code cleanup, add gcc - remove clang flags that are not necessary now (tested on clang-11 and clang-16) - add support for gcc ( make test CC=gcc CXX=g++ ) - add suport for different optimization level (detects some code problems) : make test OPTIMIZE=-O2 - fallback to clang on Linux too * fixup! unittest - conditionaly disable useless output in unittests
126 lines
4.6 KiB
C
126 lines
4.6 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stddef.h>
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#include <stdint.h>
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#define NOOP do {} while (0)
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#define ARRAYLEN(x) (sizeof(x) / sizeof((x)[0]))
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#define ARRAYEND(x) (&(x)[ARRAYLEN(x)])
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#define CONST_CAST(type, value) ((type)(value))
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#define CONCAT_HELPER(x,y) x ## y
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#define CONCAT(x,y) CONCAT_HELPER(x, y)
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#define CONCAT2(_1,_2) CONCAT(_1, _2)
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#define CONCAT3(_1,_2,_3) CONCAT(CONCAT(_1, _2), _3)
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#define CONCAT4(_1,_2,_3,_4) CONCAT(CONCAT3(_1, _2, _3), _4)
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#define STR_HELPER(x) #x
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#define STR(x) STR_HELPER(x)
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#define EXPAND_I(x) x
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#define EXPAND(x) EXPAND_I(x)
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// expand to t if bit is 1, f when bit is 0. Other bit values are not supported
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#define PP_IIF(bit, t, f) PP_IIF_I(bit, t, f)
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#define PP_IIF_I(bit, t, f) PP_IIF_ ## bit(t, f)
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#define PP_IIF_0(t, f) f
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#define PP_IIF_1(t, f) t
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// Expand all arguments and call macro with them. When expansion of some argument contains ',', it will be passed as multiple arguments
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// #define TAKE3(_1,_2,_3) CONCAT3(_1,_2,_3)
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// #define MULTI2 A,B
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// PP_CALL(TAKE3, MULTI2, C) expands to ABC
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#define PP_CALL(macro, ...) macro(__VA_ARGS__)
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#if !defined(UNUSED)
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#define UNUSED(x) (void)(x) // Variables and parameters that are not used
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#endif
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#define DISCARD(x) (void)(x) // To explicitly ignore result of x (usually an I/O register access).
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#ifndef __cplusplus
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#define STATIC_ASSERT(condition, name) _Static_assert((condition), #name)
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#else
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// since C++11
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#define STATIC_ASSERT(condition, name) static_assert((condition), #name)
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#endif
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#define BIT(x) (1 << (x))
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/*
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http://resnet.uoregon.edu/~gurney_j/jmpc/bitwise.html
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*/
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#define BITCOUNT(x) (((BX_(x)+(BX_(x)>>4)) & 0x0F0F0F0F) % 255)
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#define BX_(x) ((x) - (((x)>>1)&0x77777777) - (((x)>>2)&0x33333333) - (((x)>>3)&0x11111111))
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/*
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* https://groups.google.com/forum/?hl=en#!msg/comp.lang.c/attFnqwhvGk/sGBKXvIkY3AJ
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* Return (v ? floor(log2(v)) : 0) when 0 <= v < 1<<[8, 16, 32, 64].
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* Inefficient algorithm, intended for compile-time constants.
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*/
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#define LOG2_8BIT(v) (8 - 90/(((v)/4+14)|1) - 2/((v)/2+1))
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#define LOG2_16BIT(v) (8*((v)>255) + LOG2_8BIT((v) >>8*((v)>255)))
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#define LOG2_32BIT(v) (16*((v)>65535L) + LOG2_16BIT((v)*1L >>16*((v)>65535L)))
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#define LOG2_64BIT(v) \
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(32*((v)/2L>>31 > 0) \
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+ LOG2_32BIT((v)*1L >>16*((v)/2L>>31 > 0) \
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>>16*((v)/2L>>31 > 0)))
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#define LOG2(v) LOG2_64BIT(v)
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#if 0
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// ISO C version, but no type checking
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#define container_of(ptr, type, member) \
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((type *) ((char *)(ptr) - offsetof(type, member)))
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#else
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// non ISO variant from linux kernel; checks ptr type, but triggers 'ISO C forbids braced-groups within expressions [-Wpedantic]'
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// __extension__ is here to disable this warning
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#define container_of(ptr, type, member) ( __extension__ ({ \
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const typeof( ((type *)0)->member ) *__mptr = (ptr); \
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(type *)( (char *)__mptr - offsetof(type,member) );}))
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static inline int16_t cmp16(uint16_t a, uint16_t b) { return (int16_t)(a-b); }
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static inline int32_t cmp32(uint32_t a, uint32_t b) { return (int32_t)(a-b); }
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static inline uint32_t llog2(uint32_t n) { return 31 - __builtin_clz(n | 1); }
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// using memcpy_fn will force memcpy function call, instead of inlining it. In most cases function call takes fewer instructions
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// than inlined version (inlining is cheaper for very small moves < 8 bytes / 2 store instructions)
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#if defined(UNIT_TEST) || defined(SIMULATOR_BUILD)
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// Call memcpy when building unittest - this is easier that asm symbol name mangling (symbols start with _underscore on win32)
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#include <string.h>
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static inline void memcpy_fn ( void * destination, const void * source, size_t num ) { memcpy(destination, source, num); }
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#else
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void * memcpy_fn ( void * destination, const void * source, size_t num ) asm("memcpy");
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#endif
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#endif
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#if __GNUC__ > 6
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#define FALLTHROUGH ;__attribute__ ((fallthrough))
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#else
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#define FALLTHROUGH do {} while(0)
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#endif
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